Convert aos over to flatbuffers
Everything builds, and all the tests pass. I suspect that some entries
are missing from the config files, but those will be found pretty
quickly on startup.
There is no logging or live introspection of queue messages.
Change-Id: I496ee01ed68f202c7851bed7e8786cee30df29f5
diff --git a/y2016/queues/BUILD b/y2016/queues/BUILD
index 0c5d97b..79ec2d9 100644
--- a/y2016/queues/BUILD
+++ b/y2016/queues/BUILD
@@ -1,17 +1,11 @@
package(default_visibility = ['//visibility:public'])
-load('//aos/build:queues.bzl', 'queue_library')
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-queue_library(
- name = 'ball_detector',
- srcs = [
- 'ball_detector.q',
- ],
-)
-
-queue_library(
- name = 'profile_params',
- srcs = [
- 'profile_params.q',
- ],
+flatbuffer_cc_library(
+ name = "ball_detector_fbs",
+ srcs = [
+ "ball_detector.fbs",
+ ],
+ gen_reflections = 1,
)
diff --git a/y2016/queues/ball_detector.q b/y2016/queues/ball_detector.fbs
similarity index 69%
rename from y2016/queues/ball_detector.q
rename to y2016/queues/ball_detector.fbs
index 9dc686f..c4ef07c 100644
--- a/y2016/queues/ball_detector.q
+++ b/y2016/queues/ball_detector.fbs
@@ -1,7 +1,7 @@
-package y2016.sensors;
+namespace y2016.sensors;
-// Published on ".y2016.sensors.ball_detector"
-message BallDetector {
+// Published on "/superstructure"
+table BallDetector {
// Voltage measured by the ball detector sensor.
// Higher voltage means ball is closer to detector, lower voltage means ball
@@ -9,5 +9,7 @@
// TODO(comran): Check to see if our sensor's output corresponds with the
// comment above.
- double voltage;
-};
+ voltage:double;
+}
+
+root_type BallDetector;
diff --git a/y2016/queues/profile_params.q b/y2016/queues/profile_params.q
deleted file mode 100644
index 56b2ab3..0000000
--- a/y2016/queues/profile_params.q
+++ /dev/null
@@ -1,6 +0,0 @@
-package y2016;
-
-struct ProfileParams {
- double velocity;
- double acceleration;
-};